Hiruka Hana / Gyro_Accelerometre

Programme gyro_accelero avec acquisition accelero + calcul téta

Dependents:   Gyro_Accelerometre2

rtx/TARGET_ARM7/rt_Task.c@0:07281ea3b26b, 2018-02-20 (annotated)

Committer:
SandrineO
Date:
Tue Feb 20 15:58:26 2018 +0000
Revision:
0:07281ea3b26b
temps r?el

Who changed what in which revision?

UserRevisionLine numberNew contents of line
SandrineO 0:07281ea3b26b 1 /*----------------------------------------------------------------------------
SandrineO 0:07281ea3b26b 2 * RL-ARM - RTX
SandrineO 0:07281ea3b26b 3 *----------------------------------------------------------------------------
SandrineO 0:07281ea3b26b 4 * Name: RT_TASK.C
SandrineO 0:07281ea3b26b 5 * Purpose: Task functions and system start up.
SandrineO 0:07281ea3b26b 6 * Rev.: V4.60
SandrineO 0:07281ea3b26b 7 *----------------------------------------------------------------------------
SandrineO 0:07281ea3b26b 8 *
SandrineO 0:07281ea3b26b 9 * Copyright (c) 1999-2009 KEIL, 2009-2015 ARM Germany GmbH
SandrineO 0:07281ea3b26b 10 * All rights reserved.
SandrineO 0:07281ea3b26b 11 * Redistribution and use in source and binary forms, with or without
SandrineO 0:07281ea3b26b 12 * modification, are permitted provided that the following conditions are met:
SandrineO 0:07281ea3b26b 13 * - Redistributions of source code must retain the above copyright
SandrineO 0:07281ea3b26b 14 * notice, this list of conditions and the following disclaimer.
SandrineO 0:07281ea3b26b 15 * - Redistributions in binary form must reproduce the above copyright
SandrineO 0:07281ea3b26b 16 * notice, this list of conditions and the following disclaimer in the
SandrineO 0:07281ea3b26b 17 * documentation and/or other materials provided with the distribution.
SandrineO 0:07281ea3b26b 18 * - Neither the name of ARM nor the names of its contributors may be used
SandrineO 0:07281ea3b26b 19 * to endorse or promote products derived from this software without
SandrineO 0:07281ea3b26b 20 * specific prior written permission.
SandrineO 0:07281ea3b26b 21 *
SandrineO 0:07281ea3b26b 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
SandrineO 0:07281ea3b26b 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
SandrineO 0:07281ea3b26b 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
SandrineO 0:07281ea3b26b 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
SandrineO 0:07281ea3b26b 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
SandrineO 0:07281ea3b26b 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
SandrineO 0:07281ea3b26b 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
SandrineO 0:07281ea3b26b 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
SandrineO 0:07281ea3b26b 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
SandrineO 0:07281ea3b26b 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
SandrineO 0:07281ea3b26b 32 * POSSIBILITY OF SUCH DAMAGE.
SandrineO 0:07281ea3b26b 33 *---------------------------------------------------------------------------*/
SandrineO 0:07281ea3b26b 34
SandrineO 0:07281ea3b26b 35 #include "rt_TypeDef.h"
SandrineO 0:07281ea3b26b 36 #include "RTX_Conf.h"
SandrineO 0:07281ea3b26b 37 #include "rt_System.h"
SandrineO 0:07281ea3b26b 38 #include "rt_Task.h"
SandrineO 0:07281ea3b26b 39 #include "rt_List.h"
SandrineO 0:07281ea3b26b 40 #include "rt_MemBox.h"
SandrineO 0:07281ea3b26b 41 #include "rt_Robin.h"
SandrineO 0:07281ea3b26b 42 #include "rt_HAL_CM.h"
SandrineO 0:07281ea3b26b 43
SandrineO 0:07281ea3b26b 44 /*----------------------------------------------------------------------------
SandrineO 0:07281ea3b26b 45 * Global Variables
SandrineO 0:07281ea3b26b 46 *---------------------------------------------------------------------------*/
SandrineO 0:07281ea3b26b 47
SandrineO 0:07281ea3b26b 48 /* Running and next task info. */
SandrineO 0:07281ea3b26b 49 struct OS_TSK os_tsk;
SandrineO 0:07281ea3b26b 50
SandrineO 0:07281ea3b26b 51 /* Task Control Blocks of idle demon */
SandrineO 0:07281ea3b26b 52 struct OS_TCB os_idle_TCB;
SandrineO 0:07281ea3b26b 53
SandrineO 0:07281ea3b26b 54
SandrineO 0:07281ea3b26b 55 /*----------------------------------------------------------------------------
SandrineO 0:07281ea3b26b 56 * Local Functions
SandrineO 0:07281ea3b26b 57 *---------------------------------------------------------------------------*/
SandrineO 0:07281ea3b26b 58
SandrineO 0:07281ea3b26b 59 OS_TID rt_get_TID (void) {
SandrineO 0:07281ea3b26b 60 U32 tid;
SandrineO 0:07281ea3b26b 61
SandrineO 0:07281ea3b26b 62 for (tid = 1; tid <= os_maxtaskrun; tid++) {
SandrineO 0:07281ea3b26b 63 if (os_active_TCB[tid-1] == NULL) {
SandrineO 0:07281ea3b26b 64 return ((OS_TID)tid);
SandrineO 0:07281ea3b26b 65 }
SandrineO 0:07281ea3b26b 66 }
SandrineO 0:07281ea3b26b 67 return (0);
SandrineO 0:07281ea3b26b 68 }
SandrineO 0:07281ea3b26b 69
SandrineO 0:07281ea3b26b 70 #if defined (__CC_ARM) && !defined (__MICROLIB)
SandrineO 0:07281ea3b26b 71 /*--------------------------- __user_perthread_libspace ---------------------*/
SandrineO 0:07281ea3b26b 72 extern void *__libspace_start;
SandrineO 0:07281ea3b26b 73
SandrineO 0:07281ea3b26b 74 void *__user_perthread_libspace (void) {
SandrineO 0:07281ea3b26b 75 /* Provide a separate libspace for each task. */
SandrineO 0:07281ea3b26b 76 if (os_tsk.run == NULL) {
SandrineO 0:07281ea3b26b 77 /* RTX not running yet. */
SandrineO 0:07281ea3b26b 78 return (&__libspace_start);
SandrineO 0:07281ea3b26b 79 }
SandrineO 0:07281ea3b26b 80 return (void *)(os_tsk.run->std_libspace);
SandrineO 0:07281ea3b26b 81 }
SandrineO 0:07281ea3b26b 82 #endif
SandrineO 0:07281ea3b26b 83
SandrineO 0:07281ea3b26b 84 /*--------------------------- rt_init_context -------------------------------*/
SandrineO 0:07281ea3b26b 85
SandrineO 0:07281ea3b26b 86 void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body) {
SandrineO 0:07281ea3b26b 87 /* Initialize general part of the Task Control Block. */
SandrineO 0:07281ea3b26b 88 p_TCB->cb_type = TCB;
SandrineO 0:07281ea3b26b 89 p_TCB->state = READY;
SandrineO 0:07281ea3b26b 90 p_TCB->prio = priority;
SandrineO 0:07281ea3b26b 91 p_TCB->p_lnk = NULL;
SandrineO 0:07281ea3b26b 92 p_TCB->p_rlnk = NULL;
SandrineO 0:07281ea3b26b 93 p_TCB->p_dlnk = NULL;
SandrineO 0:07281ea3b26b 94 p_TCB->p_blnk = NULL;
SandrineO 0:07281ea3b26b 95 p_TCB->delta_time = 0;
SandrineO 0:07281ea3b26b 96 p_TCB->interval_time = 0;
SandrineO 0:07281ea3b26b 97 p_TCB->events = 0;
SandrineO 0:07281ea3b26b 98 p_TCB->waits = 0;
SandrineO 0:07281ea3b26b 99 p_TCB->stack_frame = 0;
SandrineO 0:07281ea3b26b 100
SandrineO 0:07281ea3b26b 101 rt_init_stack (p_TCB, task_body);
SandrineO 0:07281ea3b26b 102 }
SandrineO 0:07281ea3b26b 103
SandrineO 0:07281ea3b26b 104
SandrineO 0:07281ea3b26b 105 /*--------------------------- rt_switch_req ---------------------------------*/
SandrineO 0:07281ea3b26b 106
SandrineO 0:07281ea3b26b 107 void rt_switch_req (P_TCB p_new) {
SandrineO 0:07281ea3b26b 108 /* Switch to next task (identified by "p_new"). */
SandrineO 0:07281ea3b26b 109 os_tsk.new_tsk = p_new;
SandrineO 0:07281ea3b26b 110 p_new->state = RUNNING;
SandrineO 0:07281ea3b26b 111 DBG_TASK_SWITCH(p_new->task_id);
SandrineO 0:07281ea3b26b 112 }
SandrineO 0:07281ea3b26b 113
SandrineO 0:07281ea3b26b 114
SandrineO 0:07281ea3b26b 115 /*--------------------------- rt_dispatch -----------------------------------*/
SandrineO 0:07281ea3b26b 116
SandrineO 0:07281ea3b26b 117 void rt_dispatch (P_TCB next_TCB) {
SandrineO 0:07281ea3b26b 118 /* Dispatch next task if any identified or dispatch highest ready task */
SandrineO 0:07281ea3b26b 119 /* "next_TCB" identifies a task to run or has value NULL (=no next task) */
SandrineO 0:07281ea3b26b 120 if (next_TCB == NULL) {
SandrineO 0:07281ea3b26b 121 /* Running task was blocked: continue with highest ready task */
SandrineO 0:07281ea3b26b 122 next_TCB = rt_get_first (&os_rdy);
SandrineO 0:07281ea3b26b 123 rt_switch_req (next_TCB);
SandrineO 0:07281ea3b26b 124 }
SandrineO 0:07281ea3b26b 125 else {
SandrineO 0:07281ea3b26b 126 /* Check which task continues */
SandrineO 0:07281ea3b26b 127 if (next_TCB->prio > os_tsk.run->prio) {
SandrineO 0:07281ea3b26b 128 /* preempt running task */
SandrineO 0:07281ea3b26b 129 rt_put_rdy_first (os_tsk.run);
SandrineO 0:07281ea3b26b 130 os_tsk.run->state = READY;
SandrineO 0:07281ea3b26b 131 rt_switch_req (next_TCB);
SandrineO 0:07281ea3b26b 132 }
SandrineO 0:07281ea3b26b 133 else {
SandrineO 0:07281ea3b26b 134 /* put next task into ready list, no task switch takes place */
SandrineO 0:07281ea3b26b 135 next_TCB->state = READY;
SandrineO 0:07281ea3b26b 136 rt_put_prio (&os_rdy, next_TCB);
SandrineO 0:07281ea3b26b 137 }
SandrineO 0:07281ea3b26b 138 }
SandrineO 0:07281ea3b26b 139 }
SandrineO 0:07281ea3b26b 140
SandrineO 0:07281ea3b26b 141
SandrineO 0:07281ea3b26b 142 /*--------------------------- rt_block --------------------------------------*/
SandrineO 0:07281ea3b26b 143
SandrineO 0:07281ea3b26b 144 void rt_block (U16 timeout, U8 block_state) {
SandrineO 0:07281ea3b26b 145 /* Block running task and choose next ready task. */
SandrineO 0:07281ea3b26b 146 /* "timeout" sets a time-out value or is 0xffff (=no time-out). */
SandrineO 0:07281ea3b26b 147 /* "block_state" defines the appropriate task state */
SandrineO 0:07281ea3b26b 148 P_TCB next_TCB;
SandrineO 0:07281ea3b26b 149
SandrineO 0:07281ea3b26b 150 if (timeout) {
SandrineO 0:07281ea3b26b 151 if (timeout < 0xffff) {
SandrineO 0:07281ea3b26b 152 rt_put_dly (os_tsk.run, timeout);
SandrineO 0:07281ea3b26b 153 }
SandrineO 0:07281ea3b26b 154 os_tsk.run->state = block_state;
SandrineO 0:07281ea3b26b 155 next_TCB = rt_get_first (&os_rdy);
SandrineO 0:07281ea3b26b 156 rt_switch_req (next_TCB);
SandrineO 0:07281ea3b26b 157 }
SandrineO 0:07281ea3b26b 158 }
SandrineO 0:07281ea3b26b 159
SandrineO 0:07281ea3b26b 160
SandrineO 0:07281ea3b26b 161 /*--------------------------- rt_tsk_pass -----------------------------------*/
SandrineO 0:07281ea3b26b 162
SandrineO 0:07281ea3b26b 163 void rt_tsk_pass (void) {
SandrineO 0:07281ea3b26b 164 /* Allow tasks of same priority level to run cooperatively.*/
SandrineO 0:07281ea3b26b 165 P_TCB p_new;
SandrineO 0:07281ea3b26b 166
SandrineO 0:07281ea3b26b 167 p_new = rt_get_same_rdy_prio();
SandrineO 0:07281ea3b26b 168 if (p_new != NULL) {
SandrineO 0:07281ea3b26b 169 rt_put_prio ((P_XCB)&os_rdy, os_tsk.run);
SandrineO 0:07281ea3b26b 170 os_tsk.run->state = READY;
SandrineO 0:07281ea3b26b 171 rt_switch_req (p_new);
SandrineO 0:07281ea3b26b 172 }
SandrineO 0:07281ea3b26b 173 }
SandrineO 0:07281ea3b26b 174
SandrineO 0:07281ea3b26b 175
SandrineO 0:07281ea3b26b 176 /*--------------------------- rt_tsk_self -----------------------------------*/
SandrineO 0:07281ea3b26b 177
SandrineO 0:07281ea3b26b 178 OS_TID rt_tsk_self (void) {
SandrineO 0:07281ea3b26b 179 /* Return own task identifier value. */
SandrineO 0:07281ea3b26b 180 if (os_tsk.run == NULL) {
SandrineO 0:07281ea3b26b 181 return (0);
SandrineO 0:07281ea3b26b 182 }
SandrineO 0:07281ea3b26b 183 return (os_tsk.run->task_id);
SandrineO 0:07281ea3b26b 184 }
SandrineO 0:07281ea3b26b 185
SandrineO 0:07281ea3b26b 186
SandrineO 0:07281ea3b26b 187 /*--------------------------- rt_tsk_prio -----------------------------------*/
SandrineO 0:07281ea3b26b 188
SandrineO 0:07281ea3b26b 189 OS_RESULT rt_tsk_prio (OS_TID task_id, U8 new_prio) {
SandrineO 0:07281ea3b26b 190 /* Change execution priority of a task to "new_prio". */
SandrineO 0:07281ea3b26b 191 P_TCB p_task;
SandrineO 0:07281ea3b26b 192
SandrineO 0:07281ea3b26b 193 if (task_id == 0) {
SandrineO 0:07281ea3b26b 194 /* Change execution priority of calling task. */
SandrineO 0:07281ea3b26b 195 os_tsk.run->prio = new_prio;
SandrineO 0:07281ea3b26b 196 run:if (rt_rdy_prio() > new_prio) {
SandrineO 0:07281ea3b26b 197 rt_put_prio (&os_rdy, os_tsk.run);
SandrineO 0:07281ea3b26b 198 os_tsk.run->state = READY;
SandrineO 0:07281ea3b26b 199 rt_dispatch (NULL);
SandrineO 0:07281ea3b26b 200 }
SandrineO 0:07281ea3b26b 201 return (OS_R_OK);
SandrineO 0:07281ea3b26b 202 }
SandrineO 0:07281ea3b26b 203
SandrineO 0:07281ea3b26b 204 /* Find the task in the "os_active_TCB" array. */
SandrineO 0:07281ea3b26b 205 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
SandrineO 0:07281ea3b26b 206 /* Task with "task_id" not found or not started. */
SandrineO 0:07281ea3b26b 207 return (OS_R_NOK);
SandrineO 0:07281ea3b26b 208 }
SandrineO 0:07281ea3b26b 209 p_task = os_active_TCB[task_id-1];
SandrineO 0:07281ea3b26b 210 p_task->prio = new_prio;
SandrineO 0:07281ea3b26b 211 if (p_task == os_tsk.run) {
SandrineO 0:07281ea3b26b 212 goto run;
SandrineO 0:07281ea3b26b 213 }
SandrineO 0:07281ea3b26b 214 rt_resort_prio (p_task);
SandrineO 0:07281ea3b26b 215 if (p_task->state == READY) {
SandrineO 0:07281ea3b26b 216 /* Task enqueued in a ready list. */
SandrineO 0:07281ea3b26b 217 p_task = rt_get_first (&os_rdy);
SandrineO 0:07281ea3b26b 218 rt_dispatch (p_task);
SandrineO 0:07281ea3b26b 219 }
SandrineO 0:07281ea3b26b 220 return (OS_R_OK);
SandrineO 0:07281ea3b26b 221 }
SandrineO 0:07281ea3b26b 222
SandrineO 0:07281ea3b26b 223 /*--------------------------- rt_tsk_delete ---------------------------------*/
SandrineO 0:07281ea3b26b 224
SandrineO 0:07281ea3b26b 225 OS_RESULT rt_tsk_delete (OS_TID task_id) {
SandrineO 0:07281ea3b26b 226 /* Terminate the task identified with "task_id". */
SandrineO 0:07281ea3b26b 227 P_TCB task_context;
SandrineO 0:07281ea3b26b 228
SandrineO 0:07281ea3b26b 229 if (task_id == 0 || task_id == os_tsk.run->task_id) {
SandrineO 0:07281ea3b26b 230 /* Terminate itself. */
SandrineO 0:07281ea3b26b 231 os_tsk.run->state = INACTIVE;
SandrineO 0:07281ea3b26b 232 os_tsk.run->tsk_stack = 0;
SandrineO 0:07281ea3b26b 233 rt_stk_check ();
SandrineO 0:07281ea3b26b 234 os_active_TCB[os_tsk.run->task_id-1] = NULL;
SandrineO 0:07281ea3b26b 235
SandrineO 0:07281ea3b26b 236 os_tsk.run->stack = NULL;
SandrineO 0:07281ea3b26b 237 DBG_TASK_NOTIFY(os_tsk.run, __FALSE);
SandrineO 0:07281ea3b26b 238 os_tsk.run = NULL;
SandrineO 0:07281ea3b26b 239 rt_dispatch (NULL);
SandrineO 0:07281ea3b26b 240 /* The program should never come to this point. */
SandrineO 0:07281ea3b26b 241 }
SandrineO 0:07281ea3b26b 242 else {
SandrineO 0:07281ea3b26b 243 /* Find the task in the "os_active_TCB" array. */
SandrineO 0:07281ea3b26b 244 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
SandrineO 0:07281ea3b26b 245 /* Task with "task_id" not found or not started. */
SandrineO 0:07281ea3b26b 246 return (OS_R_NOK);
SandrineO 0:07281ea3b26b 247 }
SandrineO 0:07281ea3b26b 248 task_context = os_active_TCB[task_id-1];
SandrineO 0:07281ea3b26b 249 rt_rmv_list (task_context);
SandrineO 0:07281ea3b26b 250 rt_rmv_dly (task_context);
SandrineO 0:07281ea3b26b 251 os_active_TCB[task_id-1] = NULL;
SandrineO 0:07281ea3b26b 252
SandrineO 0:07281ea3b26b 253 task_context->stack = NULL;
SandrineO 0:07281ea3b26b 254 DBG_TASK_NOTIFY(task_context, __FALSE);
SandrineO 0:07281ea3b26b 255 }
SandrineO 0:07281ea3b26b 256 return (OS_R_OK);
SandrineO 0:07281ea3b26b 257 }
SandrineO 0:07281ea3b26b 258
SandrineO 0:07281ea3b26b 259
SandrineO 0:07281ea3b26b 260 /*--------------------------- rt_sys_init -----------------------------------*/
SandrineO 0:07281ea3b26b 261
SandrineO 0:07281ea3b26b 262 #ifdef __CMSIS_RTOS
SandrineO 0:07281ea3b26b 263 void rt_sys_init (void) {
SandrineO 0:07281ea3b26b 264 #else
SandrineO 0:07281ea3b26b 265 void rt_sys_init (FUNCP first_task, U32 prio_stksz, void *stk) {
SandrineO 0:07281ea3b26b 266 #endif
SandrineO 0:07281ea3b26b 267 /* Initialize system and start up task declared with "first_task". */
SandrineO 0:07281ea3b26b 268 U32 i;
SandrineO 0:07281ea3b26b 269
SandrineO 0:07281ea3b26b 270 DBG_INIT();
SandrineO 0:07281ea3b26b 271
SandrineO 0:07281ea3b26b 272 /* Initialize dynamic memory and task TCB pointers to NULL. */
SandrineO 0:07281ea3b26b 273 for (i = 0; i < os_maxtaskrun; i++) {
SandrineO 0:07281ea3b26b 274 os_active_TCB[i] = NULL;
SandrineO 0:07281ea3b26b 275 }
SandrineO 0:07281ea3b26b 276
SandrineO 0:07281ea3b26b 277 /* Set up TCB of idle demon */
SandrineO 0:07281ea3b26b 278 os_idle_TCB.task_id = 255;
SandrineO 0:07281ea3b26b 279 os_idle_TCB.priv_stack = idle_task_stack_size;
SandrineO 0:07281ea3b26b 280 os_idle_TCB.stack = idle_task_stack;
SandrineO 0:07281ea3b26b 281 rt_init_context (&os_idle_TCB, 0, os_idle_demon);
SandrineO 0:07281ea3b26b 282
SandrineO 0:07281ea3b26b 283 /* Set up ready list: initially empty */
SandrineO 0:07281ea3b26b 284 os_rdy.cb_type = HCB;
SandrineO 0:07281ea3b26b 285 os_rdy.p_lnk = NULL;
SandrineO 0:07281ea3b26b 286 /* Set up delay list: initially empty */
SandrineO 0:07281ea3b26b 287 os_dly.cb_type = HCB;
SandrineO 0:07281ea3b26b 288 os_dly.p_dlnk = NULL;
SandrineO 0:07281ea3b26b 289 os_dly.p_blnk = NULL;
SandrineO 0:07281ea3b26b 290 os_dly.delta_time = 0;
SandrineO 0:07281ea3b26b 291
SandrineO 0:07281ea3b26b 292 /* Fix SP and systemvariables to assume idle task is running */
SandrineO 0:07281ea3b26b 293 /* Transform main program into idle task by assuming idle TCB */
SandrineO 0:07281ea3b26b 294 #ifndef __CMSIS_RTOS
SandrineO 0:07281ea3b26b 295 rt_set_PSP (os_idle_TCB.tsk_stack);
SandrineO 0:07281ea3b26b 296 #endif
SandrineO 0:07281ea3b26b 297 os_tsk.run = &os_idle_TCB;
SandrineO 0:07281ea3b26b 298 os_tsk.run->state = RUNNING;
SandrineO 0:07281ea3b26b 299
SandrineO 0:07281ea3b26b 300 /* Initialize ps queue */
SandrineO 0:07281ea3b26b 301 os_psq->first = 0;
SandrineO 0:07281ea3b26b 302 os_psq->last = 0;
SandrineO 0:07281ea3b26b 303 os_psq->size = os_fifo_size;
SandrineO 0:07281ea3b26b 304
SandrineO 0:07281ea3b26b 305 rt_init_robin ();
SandrineO 0:07281ea3b26b 306
SandrineO 0:07281ea3b26b 307 /* Intitialize SVC and PendSV */
SandrineO 0:07281ea3b26b 308 rt_svc_init ();
SandrineO 0:07281ea3b26b 309
SandrineO 0:07281ea3b26b 310 #ifndef __CMSIS_RTOS
SandrineO 0:07281ea3b26b 311 /* Intitialize and start system clock timer */
SandrineO 0:07281ea3b26b 312 os_tick_irqn = os_tick_init ();
SandrineO 0:07281ea3b26b 313 if (os_tick_irqn >= 0) {
SandrineO 0:07281ea3b26b 314 OS_X_INIT(os_tick_irqn);
SandrineO 0:07281ea3b26b 315 }
SandrineO 0:07281ea3b26b 316
SandrineO 0:07281ea3b26b 317 /* Start up first user task before entering the endless loop */
SandrineO 0:07281ea3b26b 318 rt_tsk_create (first_task, prio_stksz, stk, NULL);
SandrineO 0:07281ea3b26b 319 #endif
SandrineO 0:07281ea3b26b 320 }
SandrineO 0:07281ea3b26b 321
SandrineO 0:07281ea3b26b 322
SandrineO 0:07281ea3b26b 323 /*--------------------------- rt_sys_start ----------------------------------*/
SandrineO 0:07281ea3b26b 324
SandrineO 0:07281ea3b26b 325 #ifdef __CMSIS_RTOS
SandrineO 0:07281ea3b26b 326 void rt_sys_start (void) {
SandrineO 0:07281ea3b26b 327 /* Start system */
SandrineO 0:07281ea3b26b 328
SandrineO 0:07281ea3b26b 329 /* Intitialize and start system clock timer */
SandrineO 0:07281ea3b26b 330 os_tick_irqn = os_tick_init ();
SandrineO 0:07281ea3b26b 331 if (os_tick_irqn >= 0) {
SandrineO 0:07281ea3b26b 332 OS_X_INIT(os_tick_irqn);
SandrineO 0:07281ea3b26b 333 }
SandrineO 0:07281ea3b26b 334 extern void RestoreContext();
SandrineO 0:07281ea3b26b 335 RestoreContext(); // Start the first task
SandrineO 0:07281ea3b26b 336 }
SandrineO 0:07281ea3b26b 337 #endif
SandrineO 0:07281ea3b26b 338
SandrineO 0:07281ea3b26b 339 /*----------------------------------------------------------------------------
SandrineO 0:07281ea3b26b 340 * end of file
SandrineO 0:07281ea3b26b 341 *---------------------------------------------------------------------------*/